Model prediction controller for eliminating transmission backlash in heliostat multi-servo driving system

The invention provides a model prediction controller for eliminating a transmission backlash in a heliostat multi-servo driving system, and relates to a heliostat multi-servo driving system. For speed control, an improved dead zone model is provided for modeling a backlash, a dynamic model of a dual-motor system is established based on the model, a model prediction speed controller and a control system based on the dead zone model are designed according to the dynamic model, and a prediction result is corrected by using a feedback correction link. For position control, an anti-backlash strategy for improving a variable bias torque distribution mode is provided, a dual-motor system model based on the anti-backlash strategy is established, and a model prediction position controller and a control system based on the anti-backlash strategy are designed in combination with the model. The controller provided by the invention can eliminate the influence of transmission backlash in a heliostat multi-servo system, and